CN111246979A - Moving body - Google Patents

Abstract

The disclosed device is provided with: a position determination unit (13) for determining the position of the user; an environment information acquisition unit (14) for acquiring environment information of the location; and an operation determination unit (15) that determines whether or not the predetermined operation to be performed is established based on the environment information. The environmental information includes at least any one of environmental information related to the sound emission device and environmental information related to the display device.

Description

moving body

technical field

The present invention relates to moving bodies.

Background technique

A mobile body (for example, a robot) that can move autonomously is controlled by various means. For example, Patent Document 1 discloses a legged mobile robot, which can autonomously and reliably from various fall postures by including means for determining whether or not to fall, means for determining posture at the time of falling, and means for executing a rising motion pattern corresponding to the posture of falling. And get up smoothly.

prior art literature

Patent Literature

Patent Document 1: JP Patent Publication No. 2001-150370

SUMMARY OF THE INVENTION

The problem to be solved by the invention

However, the mobile body of Patent Document 1 cannot determine in advance whether or not a predetermined action to be performed (for example, recovery from a fall) is established in consideration of the surrounding environment. For this reason, for example, depending on the surrounding environment at the time of the fall, there is a problem that the mobile body cannot properly fall and recover.

The present invention has been made in order to solve the above-mentioned problems, and an object thereof is to provide a moving body or the like that can perform smooth operation in consideration of the surrounding environment.

means of solving problems

In order to solve the above-mentioned problems, the present invention is characterized by comprising: a position determination unit that determines its own position; an environment information acquisition unit that acquires environmental information of the position; The established motion judgment unit.

Invention effect

ADVANTAGE OF THE INVENTION According to this invention, the moving body etc. which can perform a smooth operation in consideration of the surrounding environment can be provided.

Description of drawings

FIG. 1 is a diagram showing an example of the configuration of the moving body according to the present embodiment.

FIG. 2 is a diagram showing an example of the configuration of the attitude drive device according to the present embodiment.

FIG. 3 is a diagram showing an example of the configuration of the wheel drive device according to the present embodiment.

FIG. 4 is a diagram showing an example of the configuration of the motion control system according to the present embodiment.

FIG. 5 is a diagram showing an example of a map information and an environment information group according to the present embodiment.

FIG. 6 is a flowchart showing an example of processing by the operation determination unit according to the first embodiment.

FIG. 7 is a flowchart showing an example of processing by the operation determination unit according to the first embodiment.

FIG. 8 is a flowchart showing an example of processing by the operation determination unit according to the second embodiment.

FIG. 9 is a flowchart showing an example of processing by the operation determination unit according to the second embodiment.

FIG. 10 is an external view of a mobile body standing upright on the ground at an inclination angle α.

FIG. 11A is a schematic diagram showing an example of the fall recovery of the mobile body according to the present embodiment.

FIG. 11B is a schematic diagram showing an example of the fall recovery of the mobile body according to the present embodiment.

FIG. 11C is a schematic diagram showing an example of a fall recovery of the mobile body according to the present embodiment.

FIG. 11D is a schematic diagram showing an example of a fall recovery of the mobile body according to the present embodiment.

FIG. 11E is a schematic diagram showing an example of the fall recovery of the mobile body according to the present embodiment.

FIG. 11F is a schematic diagram showing an example of a fall recovery of the mobile body according to the present embodiment.

FIG. 11G is a schematic diagram showing an example of the fall recovery of the mobile body according to the present embodiment.

FIG. 12 is a flowchart showing an example of processing by the operation determination unit according to the third embodiment.

FIG. 13 is an external view showing a mobile body that falls prone on the ground with an inclination angle α

Detailed ways

The moving body, the motion control system, and the moving body system according to the present embodiment will be described below. In addition, since the drawings referred to in the following description are diagrams schematically showing the embodiment, scales, intervals, and positional relationships of the respective members may be exaggerated, or a part of the members may be omitted from illustration. In addition, in the following description, about the same name and code|symbol, the same or homogeneous member is shown in principle, and detailed description is abbreviate|omitted suitably.

<First Embodiment>

First, the moving body 1 according to the present embodiment will be described with reference to FIGS. 1 to 3 . FIG. 1 is a diagram showing an example of the configuration of the moving body according to the present embodiment. FIG. 2 is a diagram showing an example of the configuration of the attitude drive device according to the present embodiment. FIG. 3 is a diagram showing an example of the configuration of the wheel drive device according to the present embodiment.

The moving body 1 includes a trunk 2, an arm 3R, an arm 3L, a leg 4R, a leg 4L, a wheel 5R, a wheel 5L, a head 6, and the like. Joint motors 63 are provided at the joints of the trunk 2 , the arms 3R, the arms 3L, the legs 4R, the legs 4L, and the head 6 , and the movable body 1 can freely move the joints, for example, the trunk 2 can be tilted forward, and the arm 3R can be swung. Or arm 3L, extend leg 4R or leg 4L, shake your head, etc.

The head 6 includes a sound emitting device 20 , and the trunk 2 includes a display device 30 . The utterance device 20 speaks or utters based on the motion command input from the motion planning unit 17 (refer to FIG. 4 ), which will be described later. The sound generating device 20 is constituted by, for example, a speaker, a buzzer, and the like. The display device 30 displays necessary information, various images, and the like based on an operation command input from the later-described operation planning unit 17 (see FIG. 4 ). The display device 30 is constituted by, for example, a touch panel display, a liquid crystal display, a head-up display, or the like. When the voice emitting device 20 speaks or utters a sound, and the display device 30 displays necessary information, various images, and the like, the mobile body 1 can communicate with a person.

The torso 2 includes an appearance measuring device 40 . The appearance measuring device 40 measures the distance to an object (eg, an obstacle, a wall) existing around the moving body 1 , and outputs the measurement result to the appearance measuring unit 11 and the operation determining unit 15 (see FIG. 4 ) described later. The appearance measuring device 40 is constituted by, for example, an infrared distance sensor, a distance measuring sensor, and the like.

In addition, the trunk 2 includes a posture angle detection device 50 . The posture angle detection device 50 detects the posture angle of the mobile body 1 and the posture angular velocity of the mobile body 1 , and outputs the detection results to the operation determination unit 15 (see FIG. 4 ) to be described later. The attitude angle detection device 50 is constituted by, for example, an acceleration sensor, a gyro sensor, and the like.

与绕着z轴的旋转方向即偏转方向相关的姿态角度ψ。For example, the attitude angle detection device 50 detects the attitude angle θ related to the rotation direction around the x-axis, that is, the pitch direction, and the attitude angle θ related to the rotation direction around the y-axis, that is, the roll direction.

The attitude angle ψ relative to the direction of rotation about the z-axis, ie, the direction of yaw.

满足

的情况下，后述的动作判定部15(参照图4)能做出移动体1能自主站立这样的判定。另外，例如在由姿态角度检测装置50检测到的俯仰方向所相关的姿态角度θ满足θ<θmin、由姿态角度检测装置50检测到的翻滚方向所相关的姿态角度

满足

的情况下，后述的动作判定部15(参照图4)能做出移动体1不能自主站立的判定。The posture angle at which the mobile body 1 can stand autonomously is set in advance. Therefore, for example, the attitude angle θ related to the pitch direction detected by the attitude angle detection device 50 satisfies θmin≦θ≦θmax, and the attitude angle related to the roll direction detected by the attitude angle detection device 50

Satisfy

In the case of , the action determination unit 15 (refer to FIG. 4 ), which will be described later, can determine that the mobile body 1 can stand autonomously. In addition, for example, the attitude angle θ related to the pitch direction detected by the attitude angle detection device 50 satisfies θ<θmin, and the attitude angle related to the roll direction detected by the attitude angle detection device 50 is satisfied.

Satisfy

In the case of , the action determination unit 15 (see FIG. 4 ) to be described later can determine that the mobile body 1 cannot stand autonomously.

The managers and operators of the mobile body 1 use the environmental information setting device 80 to arbitrarily set, change, or update the values and structures of the environmental information group 34 (see FIG. 5 ) to be described later.

For example, the environmental information setting device 80 performs various settings, such as setting of whether or not the sound emission device 20 can emit sound at a predetermined position where the mobile body 1 exists, setting of the allowable volume, and the like. In addition, the environmental information setting device 80 performs various settings such as the setting of display availability and brightness of the display device 30 at a predetermined position where the mobile body 1 exists. In addition, the environmental information setting device 80 performs various settings such as the inclination angle of the ground at a predetermined position where the mobile body 1 exists, and the distance from the obstacle 32 and the wall 33 existing near the position.

The environment information setting device 80 is constituted by, for example, a laptop computer, personal computer, tablet computer, smart phone, etc. with a built-in wireless LAN. The environmental information setting device 80 has a function of accepting input operations from managers and operators of the mobile body 1, and the function includes, for example, a keyboard, a camera, a mouse, a touch panel, a microphone for receiving voice input, a camera for gesture recognition, and a selection button. , joystick, other sensors, etc. The input from the environmental information setting device 80 to the arithmetic processing device 10 is preferably performed wirelessly.

As shown in FIG. 2 , the mobile body 1 includes a posture driving device 60 . The posture drive device 60 includes a joint motor control unit 61 , a joint motor drive unit 62 , a joint motor 63 , and the like.

The joint motor control unit 61 calculates control signals for controlling the trunk 2 , the arms 3R, the arms 3L, the legs 4R, the legs 4L, and the head 6 based on motion commands input from the motion planning unit 17 (see FIG. 4 ) to be described later. and output to the joint motor drive unit 62 .

The joint motor drive unit 62 calculates a drive signal (voltage corresponding to the control signal) based on the control signal input from the joint motor control unit 61 , and outputs (applies) the drive signal to the joint motor 63 .

The joint motor 63 controls the posture of the moving body 1 by moving the trunk 2 , the arm 3R, the arm 3L, the leg 4R, the leg 4L, and the head 6 based on the voltage input from the joint motor drive unit 62 . For example, the joint motor 63 changes the joint angles of the arms 3R and 3L to adjust the position of the fingertips, and changes the joint angles of the legs 4R and 4L to adjust the standing and sitting postures of the mobile body 1 .

Moreover, as shown in FIG. 3, the mobile body 1 is provided with the wheel drive apparatus 70. The wheel drive device 70 includes a travel path calculation unit 71 , a travel control unit 72 , a wheel drive unit 73R, a wheel drive unit 73L, a drive motor 5Ra, a drive motor 5La, a position sensor 5Rb, a position sensor 5Lb, and the like.

The travel route calculation unit 71 calculates travel commands (for example, a travel speed command and a travel direction command), and outputs them to the travel control unit 72 . In addition, the traveling here is also the walking of the mobile body 1 .

The travel control unit 72 calculates control signals for controlling the wheels 5R and 5L based on the travel command input from the travel route calculation unit 71 , and outputs the control signals to the wheel drive units 73R and 73L.

The wheel drive unit 73R and the wheel drive unit 73L calculate a drive signal (voltage corresponding to the control signal) based on the control signal input from the travel control unit 72 , and output (apply) it to the drive motor 5Ra and the drive motor 5La. The wheel drive unit 73R and the wheel drive unit 73L are arranged side by side symmetrically in a direction parallel to the central axis of the wheel.

The drive motor 5Ra is connected to the wheel 5R, and the wheel 5R is rotated by the rotation of the drive motor 5Ra. The drive motor 5La is connected to the wheel 5L, and the wheel 5L is rotated by the rotation of the drive motor 5La.

The position sensor 5Rb detects the rotation angle of the wheel 5R, the drive motor 5La detects the rotation angle of the wheel 5L, and outputs the detection result to the mileage calculation unit 12 (see FIG. 4 ) described later. In addition, the wheel 5R and the wheel 5L are provided with a rotation speed detection device or the like that detects the rotation speed of the wheel 5R and the rotation speed of the wheel 5L.

"The Structure of Motion Control Systems"

Next, the motion control system 100 of the above-described mobile body 1 will be described with reference to FIGS. 4 and 5 . FIG. 4 is a functional block diagram showing an example of the configuration of the motion control system 100 according to the present embodiment. FIG. 5 is a map information and an environment information group according to the present embodiment.

The motion control system 100 includes an arithmetic processing device 10 , a sounding device 20 , a display device 30 , an appearance measuring device 40 , an attitude angle detecting device 50 , an attitude driving device 60 , a wheel driving device 70 , an environmental information setting device 80 , and the like. Furthermore, the arithmetic processing device 10 includes an appearance measurement unit 11, a mileage calculation unit 12, an own position estimation unit (position determination unit) 13, an environment information acquisition unit 14, an operation determination unit 15, an operation execution unit (operation instruction unit) 16, Action planning unit 17, memory.

The arithmetic processing device 10 is, for example, a CPU (Central Processing Unit), reads out a control program stored in a memory, develops it in a work area, and executes the control program to control each component. In addition, the arithmetic processing device 10 may be provided inside the mobile body 1 or may be provided outside the mobile body 1 .

The memory is used as a work storage area for the arithmetic processing device 10 to execute the control program. The memory is constituted by, for example, ROM (Read Only Memory), RAM (Random Access Memory), etc., and stores the map information 31 , the environment information group 34 , the control program executed by the arithmetic processing device 10 , and the data of the control program. Various data required for execution, etc. In addition, the memory does not have to be provided inside the arithmetic processing device 10, and may be used as an external storage device.

Specifically, as shown in FIG. 5 , the memory stores map information 31 of the range in which the moving body 1 moves in advance. In addition, the memory stores an environment information group 34 corresponding to the position of the mobile body 1 indicated by the map information 31 . The map information 31 includes the position of the obstacle 32, the position of the wall 33, and the like. The environmental information group 34 includes environmental information such as "volume", "brightness", "inclination angle of the ground", and "distance to obstacle 32 or wall 33".

The structure and value of the environmental information group 34 are appropriately set, set, changed, or updated by the environmental information setting device 80 . In addition, as the values of the environmental information group 34, the environmental information setting device 80 sets the “volume” to be equal to or less than Pa, the “brightness” to be equal to or less than Qa, the “inclination angle of the ground” to be α, and Or the distance " of the wall 33" is Da or the like.

The appearance measurement unit 11 converts the measurement value input from the appearance measurement device 40 into distance data, and outputs the converted distance data to the own position estimation unit 13 .

The mileage calculation unit 12 calculates the movement information of the moving body 1 based on the rotation angle, rotation speed, rotation amount, etc. of the two wheels (wheel 5R, wheel 5L) input from the wheel drive device 70 .

For example, as shown in FIG. 5 , the coordinates used in the self-position estimation in this embodiment are set to p(xp, yp, Ωp). In FIG. 5 , x is the right-hand direction with respect to the traveling direction of the moving body 1 . In addition, y is the traveling direction of the moving body 1 . Also, Ω is the amount of rotation counterclockwise with respect to the y-axis. When the moving body 1 moves from the position (x0, y0, Ω0) to the position (x1, y1, Ω1) along the path 1a, the mileage calculation unit 12 calculates the coordinate p of the moving body 1 ( xp, yp, Ωp) to calculate the amount of movement from the position (x0, y0, Ω0) to the position (x1, y1, Ω1) as movement information. In addition, an arbitrary coordinate axis can be used for the coordinate axis used in the own position estimation.

The self-position estimation unit 13 estimates the position of the self (moving body 1 ) based on the distance data input from the appearance measurement unit 11 , the movement information input from the mileage calculation unit 12 , the map information 31 stored in the memory, and the like (estimates and determines). . For example, as shown in FIG. 5 , when the mobile body 1 moves along the path 1a, the self-position estimating unit 13 estimates (determines) the moved self-position as the position (x1, y1, Ω1).

The self-position estimating unit 13 can estimate (determine) the self-position using sensors such as LiDAR (Light Detection and Ranging), a camera, an infrared sensor, an ultrasonic sensor, and a laser scanner, for example.

The environmental information acquisition unit 14 acquires environmental information at the position estimated (determined) by the own position estimation unit 13 by referring to the environmental information group 34 stored in the memory, the setting values set by the environmental information setting device 80 , and the like.

The operation determination unit 15 determines in advance whether or not the predetermined operation to be performed is established based on the environment information input from the environment information acquisition unit 14 . Then, the operation determination unit 15 outputs the determination result to the operation execution unit 16 .

The predetermined action to be performed is preferably a predetermined action, for example, recovery from a fall, speaking, vocalization, performance, movement (for example, swinging arms, shaking head, etc.), lighting of lamps (for example, LED, etc.), display of images, etc. .

When the operation determination unit 15 determines that the predetermined operation to be performed is satisfied, the operation execution is set to ON, and the determination result that the predetermined operation to be performed is satisfied is output to the operation execution unit 16 .

On the other hand, when it is determined that the predetermined operation to be performed is not established, the operation determination unit 15 further determines whether the correction of the operation information can be performed.

The action information is information related to a predetermined action to be performed, and it is assumed to be information corresponding to the environmental information related to the sound generating device 20 . For example, the sound volume P of the mobile body 1 and the allowable volume of the mobile body 1 to the surrounding environment can be cited. Pa, the minimum value Pmin, the maximum value Pmax, and the like of the sound emission volume that the mobile body 1 can emit. Alternatively, as the information corresponding to the environmental information related to the display device 30, for example, the luminance Q of the lamp of the mobile body 1, the luminance Qa that the mobile body 1 allows to the surrounding environment, and the luminance of the lamp that the mobile body 1 can turn on can be cited. The minimum value Qmin, the maximum value Qmax and so on.

When the operation determination unit 15 determines that the correction of the operation information is possible, it corrects the operation information, sets the operation execution to ON, and outputs to the operation execution unit 16 a determination result that the predetermined operation to be performed is established. . When the operation determination unit 15 determines that the correction of the operation information cannot be performed, the operation information is not corrected, an error report is made to the manager and the operator of the mobile body 1, the operation execution is set to stop, and the execution plan is executed. The result of the determination that the action of ' is not established is output to the action execution unit 16 .

Alternatively, the operation determination unit 15 further determines whether or not the predetermined operation to be performed is restricted when it is determined that the predetermined operation to be performed does not hold.

When the operation determination unit 15 determines that the performed predetermined operation is restricted, the operation determination unit 15 restricts the performed predetermined operation, sets the operation execution to ON, and sends the operation execution unit the result of determination that the performed predetermined operation is satisfied. 16 outputs. When the operation determination unit 15 determines that the predetermined operation to be performed is not restricted, the predetermined operation to be performed is not restricted, the operation execution is set to ON, and the determination result that the predetermined operation to be performed is established is sent to the operation. The execution unit 16 outputs.

The action execution unit 16 outputs various commands related to actions to the action planning unit 17 based on the determination result input from the action determination unit 15 . The action execution unit 16 outputs an instruction for executing the action to the action planning unit 17 based on the determination result that the predetermined action to be executed is established, for example. The action execution unit 16 inputs the result of determination that the predetermined action to be executed does not hold, and outputs an instruction for not executing the action to the action planning unit 17 .

The motion planning unit 17 calculates motion commands for the sound generator 20 (for example, speaking, utterance), motion commands for the display device 30 (for example, turning on a lamp), and the posture driving device 60 based on various commands input from the motion execution unit 16 . Action commands (for example, fall recovery), and output each action command to each device.

According to the mobile body according to the present embodiment, since it can be determined in advance whether or not the predetermined operation to be performed is established in consideration of the surrounding environment, for example, even when the mobile body 1 falls, the fall recovery can be performed appropriately. In addition, for example, when the mobile body 1 exists in a quiet environment, in a movie theater, or the like, it is possible to not speak, or to adjust the volume of the speech. In addition, for example, when the moving body 1 exists on the side of a wall, it is possible to not swing the arm, or to swing only the one arm farther from the side of the wall.

"An example of processing by the motion determination unit"

FIG. 6 is a flowchart showing an example of processing performed by the operation determination unit 15 according to the present embodiment. Here, a case where the operation determination unit 15 performs each process with reference to the environmental information related to the sound emitting device 20 will be described as an example.

In step S101 , the operation determination unit 15 acquires the environmental information at the estimated position of the mobile body 1 from the environmental information acquisition unit 14 .

The operation determination unit 15 acquires “volume”, which is environmental information related to the sound emitting device 20 , from the environmental information included in the environmental information group 34 .

In step S102, the action determination unit 15 determines whether or not a predetermined action (for example, utterance) to be performed is established. When the operation determination unit 15 determines that the predetermined operation to be performed is established, the operation proceeds to the process of step S103. When the operation determination unit 15 determines that the executed predetermined operation is not established, it proceeds to the process of step S104.

For example, it is assumed that the sound volume requested by the task is P. At this time, the operation determination unit 15 determines whether or not the sound production volume P requested by the task is equal to or less than the allowable sound volume Pa (the sound production volume P≤allowable sound volume Pa). When the sound production volume P requested by the task is equal to or less than the allowable volume Pa, the operation determination unit 15 proceeds to the process of step S103 . On the other hand, when the sound emission volume P requested by the task is larger than the allowable volume Pa, the operation determination unit 15 proceeds to the process of step S104.

In step S103, the operation determination unit 15 sets the operation execution to ON.

In step S104, since the sound production volume P requested by the task exceeds the allowable sound volume Pa at the position where it is estimated that the mobile body 1 will exist, the action determination unit 15 sets a value indicating that the predetermined action to be performed (for example, sound production) does not hold. mistake. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In step S105, the operation determination unit 15 sets the operation execution to stop.

According to the above-described processing, it can be determined in advance whether or not the predetermined operation performed by the mobile body 1 is established in the environment in which the mobile body 1 exists.

"An example of processing by the motion determination unit"

FIG. 7 is a flowchart showing an example of processing performed by the operation determination unit 15 according to the present embodiment. Here, a case where the operation determination unit 15 performs each process with reference to the environmental information related to the sound emitting device 20 will be described as an example. In addition, in FIG. 7, the overlapping description is abbreviate|omitted about the part common to FIG. 6. FIG.

The processing from steps S1001 to S1003 is the same as the processing from steps S101 to S103 in FIG. 6 .

In step S1004, the action determination unit 15 determines whether or not the action information can be corrected so that the sound volume P requested by the task satisfies the allowable volume Pa.

When the motion determination unit 15 determines that the correction of the motion information is possible, the process proceeds to step S1005. When the operation determination unit 15 determines that the correction of the operation information cannot be performed, the operation proceeds to the process of step S1006.

For example, in the sound emitting device 20 , it is assumed that the sound volume P at which the sound can be produced satisfies Pmin≦P≦Pmax. At this time, when the allowable sound volume Pa is equal to or greater than the minimum value Pmin of the sound production volume P that can be uttered (volume Pmin≤allowable sound volume Pa), the operation determination unit 15 determines that the correction of the operation information can be performed, and the process proceeds to step S1005 . On the other hand, when the allowable sound volume Pa is smaller than the minimum value Pmin of the sound production volume P that can be uttered (volume Pmin>allowable sound volume Pa), the operation determination unit 15 determines that the correction of the operation information cannot be performed, and proceeds to step S1006 deal with.

In step S1005, the motion determination unit 15 corrects the motion information. For example, the operation determination unit 15 changes the sound production volume P requested by the task to the allowable sound volume Pa (the sound production volume P=allowable sound volume Pa).

In step S1006, since the sound production volume P requested by the task exceeds the allowable volume Pa at the estimated position of the mobile body 1, and the correction of the movement information cannot be performed, the movement determination unit 15 sets a predetermined value representing the execution. Errors where actions (such as vocalizations) do not hold. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

The processing of step S1007 is the same as the processing of step S105 in FIG. 6 .

Also, when the operation determination unit 15 refers to the environmental information related to the display device 30 , the same processing as described above can be performed. In this case, instead of P, Pa, Pmin, and Pmax, the motion information becomes Q, Qa, Qmin, and Qmax.

According to the above-described processing, it can be determined in advance whether or not the predetermined operation performed by the mobile body 1 is established in the environment in which the mobile body 1 exists.

<Second Embodiment>

"An example of processing by the motion determination unit"

FIG. 8 is a flowchart showing an example of the processing of the operation determination unit 15 according to the present embodiment. Here, a case where the motion determination unit 15 performs each process with reference to the environmental information related to the posture angle detection device 50 will be described as an example.

In step S201 , the operation determination unit 15 acquires the environmental information at the estimated position of the mobile body 1 from the environmental information acquisition unit 14 .

The motion determination unit 15 acquires "the inclination angle of the ground" and "the distance to the obstacle 32 or the wall 33" from the environmental information included in the environmental information group 34 .

In step S202, the motion determination unit 15 determines whether or not the mobile body 1 is standing autonomously. Note that the operation determination unit 15 performs this determination because performing a predetermined operation performed in a state where the mobile body 1 does not stand up on its own (downed state, leaning state) induces a malfunction of the mobile body 1 .

When the motion determination unit 15 determines that the mobile body 1 is standing autonomously, the process proceeds to step S203. When the motion determination unit 15 determines that the mobile body 1 is not standing autonomously, the process proceeds to step S205.

满足

的情况下，动作判定部15判定为是移动体1正自主站立的状态，前进到步骤S203的处理。另一方面，在与俯仰方向相关的姿态角度θ不满足θmin≤θ≤θmax、与翻滚方向相关的姿态角度

不满足

的情况下，动作判定部15判定为是移动体1未自主站立的状态，前进到步骤S205的处理。For example, the attitude angle θ related to the pitch direction satisfies θmin≤θ≤θmax, and the attitude angle related to the roll direction

Satisfy

In the case of , the motion determination unit 15 determines that the mobile body 1 is standing autonomously, and proceeds to the process of step S203 . On the other hand, the attitude angle θ related to the pitch direction does not satisfy θmin≤θ≤θmax, and the attitude angle related to the roll direction does not satisfy

not satisfied

In the case of , the motion determination unit 15 determines that the mobile body 1 is not standing autonomously, and proceeds to the process of step S205 .

In step S203 , the operation determination unit 15 determines whether or not the position where the mobile body 1 exists is a position where the operation requested by the task (predetermined operation to be performed) is established. When the operation determination unit 15 determines that the position where the mobile body 1 exists is the position where the operation requested by the task is established, the operation proceeds to the process of step S204. When the operation determination unit 15 determines that the position where the mobile body 1 exists is a position where the operation requested by the task is not established, the operation proceeds to the process of step S205 .

For example, it is assumed that the distance from the nearby obstacle 32 or the wall 33 is Da. At this time, the motion determination unit 15 determines whether the proximity distance Da is equal to or greater than the shortest distance D1 from the obstacle 32 or the wall 33 for which the predetermined motion to be performed is established (proximity distance Da≧shortest distance D1).

When the proximity distance Da is equal to or greater than the shortest distance D1, the motion determination unit 15 determines that the position where the moving body 1 exists is the position where the motion requested by the task is established, and the process proceeds to step S204. On the other hand, when the proximity distance Da is shorter than the shortest distance D1, the operation determination unit 15 determines that the position where the mobile body 1 exists is a position where the operation requested by the task cannot be established, and the process proceeds to step S205.

In step S204, the operation determination unit 15 sets the operation execution to ON.

In step S205 , when transitioning from step S202 , since the mobile body 1 does not stand autonomously, the operation determination unit 15 sets an error indicating that the mobile body 1 will fail if the predetermined operation performed is performed. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In addition, in step S205, when transitioning from step S203, since the distance to the nearby obstacle 32 or the wall 33 is shorter than the shortest distance to the obstacle 32 or the wall 33 for which the predetermined action to be performed is established, Therefore, the operation determination unit 15 sets an error indicating that the executed predetermined operation does not hold. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In step S206, the operation determination unit 15 sets the operation execution to stop.

According to the above-described processing, it can be determined in advance whether or not the predetermined operation performed by the mobile body 1 is established in the environment in which the mobile body 1 exists. As a result, the moving body 1 can be prevented from colliding with a wall or an obstacle or falling down during the operation.

"An example of processing by the motion determination unit"

FIG. 9 is a flowchart showing an example of the processing of the operation determination unit 15 according to the present embodiment. Here, a case where the motion determination unit 15 performs each process with reference to the environmental information related to the posture angle detection device 50 will be described as an example. In addition, in FIG. 9, the overlapping description is abbreviate|omitted about the part common to FIG.

The processing of steps S2001 to S2002 is the same as the processing of steps S201 to S202 in FIG. 8 .

In step S2003, the operation determination unit 15 determines whether or not the position where the mobile body 1 exists is a position where the operation requested by the task (predetermined operation to be performed) is established. When the operation determination unit 15 determines that the position where the mobile body 1 exists is the position where the operation requested by the task is established, the operation proceeds to the process of step S2004. When the operation determination unit 15 determines that the position where the mobile body 1 exists is a position where the operation requested by the task is not established, the operation proceeds to the process of step S2007. In addition, the motion determination unit 15 may perform this determination in consideration of the posture of the mobile body 1 .

In step S2004 , the motion determination unit 15 estimates the posture of the moving body 1 . The motion determination unit 15 determines whether or not the mobile body 1 is standing normally based on whether the posture angle detected by the posture angle detection device 50 satisfies a predetermined range, thereby estimating the posture of the mobile body 1 .

As shown in FIG. 10 , if the mobile body 1 stands upright on the ground with the inclination angle α, for example, the ideal value of the attitude angle θ related to the pitch direction is the angle corresponding to the inclination angle α of the mobile body 1 tilting the ground in the backward direction. -α. In addition, let the inclination of the front direction of the mobile body 1 be a positive (+) angle, and let the inclination of the back direction of the mobile body 1 be a negative (-) angle.

In addition, the attitude angle θ detected by the attitude angle detection device 50 actually includes the detection error θf and is always fluctuating. Therefore, taking the detection error θf into consideration, the motion determination unit 15 can determine whether or not the mobile body 1 is standing normally based on whether the attitude angle θ detected by the attitude angle detection device 50 satisfies -α-θf≤θ≤-α+θf.

When the posture angle θ satisfies -α-θf≤θ≤-α+θf, the action determination unit 15 determines that the mobile body 1 is standing normally on the ground inclined by the angle α, and estimates that the posture of the mobile body 1 is an upright posture. On the other hand, when the attitude angle θ does not satisfy -α-θf≤θ≤-α+θf, the action determination unit 15 determines that the moving body 1 is not standing upright on the ground at the inclination angle α, and estimates that the moving body 1 The posture is not an upright posture.

In step S2005, the action determination unit 15 determines whether or not the posture of the mobile body 1 is a posture in which the action requested by the task (predetermined action to be performed) is established.

When it is determined that the posture of the mobile body 1 is the posture (normal posture) that the movement requested by the task is established (normal posture), the movement determination unit 15 proceeds to the process of step S2006 . When the movement determination unit 15 determines that the posture of the mobile body 1 is a posture for which the movement requested by the task is not established (an abnormal posture), the process proceeds to step S2007.

In step S2006, the operation determination unit 15 sets the operation execution to ON.

In step S2007 , when transitioning from step S2002 , since the mobile body 1 does not stand voluntarily, the operation determination unit 15 sets an error indicating that the mobile body 1 will fail if the predetermined operation performed is performed. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In addition, in step S2007, when transitioning from step S2003, the distance to the nearby obstacle 32 or the wall 33 is shorter than the shortest distance to the obstacle 32 or the wall 33 for which the predetermined action to be performed is established. Therefore, the operation determination unit 15 sets an error indicating that the executed predetermined operation does not hold. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In addition, in step S2007, when transitioning from step S2005, since the posture of the mobile body 1 is an abnormal posture, the action determination unit 15 sets an error indicating that the predetermined action to be performed does not hold. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

The processing of step S2008 is the same as the processing of step S206 in FIG. 8 .

According to the above-described processing, it can be determined in advance whether or not the predetermined operation performed by the mobile body 1 is established in the environment in which the mobile body 1 exists. As a result, it is possible to prevent the moving body 1 from colliding with a wall or an obstacle or falling over during the operation.

<Third Embodiment>

"Fall Recovery of Moving Objects"

In the present embodiment, a case where the mobile body 1 performs a fall recovery as a predetermined operation to be performed will be described. FIG. 11 is a schematic diagram showing an example of a fall recovery in which the mobile body 1 according to the present embodiment performs one of the predetermined operations performed.

In FIG. 11A , the mobile body 1 falls and is in a prone state. In FIG. 11B , the mobile body 1 tilts the trunk 2 backward, bends the arms 3L and 3R, and bends the legs 4L and 4R. In FIG. 11C , the movable body 1 moves the arms 3L and 3R in the direction of the head 6 , and further bends the legs 4L and 4R. In FIG. 11D , the moving body 1 extends the arms 3L and 3R, and further bends the legs 4L and 4R. In FIG. 11E , the moving body 1 extends the arms 3L and 3R while tilting the trunk 2 forward, and moves in the direction of the legs 4L and 4R. In FIG. 11F , the moving body 1 tilts the trunk 2 backward, moves the arms 3L and 3R backward while bending the arms 3L, and is in a sitting state. In FIG. 11G , the movable body 1 extends the arms 3L and 3R, and extends the legs 4L and 4R, thereby being in an upright state.

Fall recovery may be an action of recovering from the state in which the mobile body 1 falls and is prone as shown in FIG. 11A to the sitting state shown in FIG. 11F , or may be a movement from the state in which the mobile body 1 falls and is prone as shown in FIG. 11A to the state shown in FIG. 11G . In the upright state shown, the recovery action is performed.

In addition, as shown in FIG. 11F , even if the mobile body 1 is in a seated state, the vehicle 1 can run on the wheels 5L and 5R. Therefore, the mobile body 1 can move in a seated state with a low center of gravity in a place where the inclination angle of the ground is steep, and after moving to a place suitable for standing up, it becomes an upright state as shown in FIG. 11G .

The mobile body 1 controlled by the above-described motion control system 100 can determine in advance whether or not the predetermined motion to be performed is established in consideration of the surrounding environment. For this reason, even when the mobile body 1 falls, for example, the fall recovery can be appropriately performed.

"An example of processing by the motion determination unit"

FIG. 12 is a flowchart showing an example of processing performed by the operation determination unit 15 according to the present embodiment. Here, the case where the mobile body 1 recovers from a fall from a state where it falls and is prone is described as an example. However, for example, when the mobile body 1 recovers from a fall from a state where the mobile body 1 falls and is turned upside down, when the mobile body 1 returns from a fall The same processing can be performed even when the person falls down and faces the side (left and right) and recovers from the fall.

The processing of steps S301 to S303 is the same as the processing of steps S2001 to S2003 in FIG. 9 .

In step S304 , the operation determination unit 15 determines whether or not the inclination angle of the ground surface on which the mobile body 1 exists is an inclination angle at which the fall recovery (predetermined operation performed) is established. When the operation determination unit 15 determines that the inclination angle of the ground surface on which the mobile body 1 exists is the inclination angle at which the fall recovery is established, the process proceeds to step S305 . When the operation determination unit 15 determines that the inclination angle of the ground surface on which the mobile body 1 exists is not the inclination angle at which the fall recovery is established, the process proceeds to step S310 .

That is, when the inclination of the ground is flat or a gentle slope, since the mobile body 1 does not fall down again when standing up, the fall recovery is established. On the other hand, when the inclination of the ground is steep, the mobile body 1 falls down again when standing up, and the fall recovery cannot be achieved.

For example, let "the inclination angle of the ground" be α. At this time, the operation determination unit 15 determines whether or not the inclination angle α of the ground is equal to or smaller than the inclination angle α2 at which the fall recovery is established (inclination angle α≦inclination angle α2 ).

Therefore, when the inclination angle α of the ground is equal to or smaller than the inclination angle α2, the operation determination unit 15 determines that the inclination angle α of the ground is an angle at which the fall recovery is established, and the process proceeds to step S305 . On the other hand, when the inclination angle α of the ground is larger than the inclination angle α2, the operation determination unit 15 determines that the inclination angle α of the ground is not an angle at which the fall recovery is established, and the process proceeds to step S310.

In step S305 , the motion determination unit 15 estimates the posture of the moving body 1 . The motion determination unit 15 determines whether or not the mobile body 1 has fallen down normally based on whether or not the posture angle detected by the posture angle detection device 50 satisfies a predetermined range, thereby estimating the posture of the mobile body 1 . In addition, "the moving body 1 is in a normal falling posture" means the falling posture shown in Fig. 11 in which the fall recovery can be established, and "the mobile body 1 is not in a normal falling posture" means the falling posture shown in Fig. 11 cannot be recovered from a fall Established fall gesture.

As shown in FIG. 13 , if the mobile body 1 falls in a prone state on the ground with an inclination angle α, for example, and the mobile body is in a state corresponding to the inclination angle α of the ground, the ideal attitude angle θ related to the pitch direction is ideal. The value becomes the angle π/2-α. In addition, let the inclination of the front direction of the mobile body 1 be a positive (+) angle, and let the inclination of the back direction of the mobile body 1 be a negative (-) angle.

In addition, the attitude angle θ detected by the attitude angle detection device 50 always fluctuates even if the detection error θc is included. Therefore, taking the detection error θc into consideration, the motion determination unit 15 determines whether the moving body 1 is not based on whether the attitude angle θ detected by the attitude angle detection device 50 satisfies π/2-α-θc≤θ≤π/2-α+θc is a normal fall.

When the attitude angle θ satisfies π/2-α-θc≤θ≤π/2-α+θc, the action determination unit 15 determines that the moving body 1 normally falls on the ground at the inclination angle α, and estimates that the moving body 1 The posture is a normal fall posture (not falling against an obstacle, etc.). On the other hand, when the attitude angle θ does not satisfy π/2-α-θc≤θ≤π/2-α+θc, the action determination unit 15 determines that the mobile body 1 does not fall down normally on the ground with the inclination angle α, It is estimated that the posture of the mobile body 1 is an abnormal fall posture (falls down by leaning on an obstacle or the like).

In step S306 , the motion determination unit 15 determines whether or not the posture of the mobile body 1 is a posture in which the fall recovery is established.

When the motion determination unit 15 determines that the posture of the mobile body 1 is the posture in which the fall recovery is established (the normal fall posture), the process proceeds to step S307 . When the motion determination unit 15 determines that the posture of the mobile body 1 is a posture for which fall recovery cannot be established (abnormal fall posture), the process proceeds to step S310 .

In step S307, the action determination unit 15 determines whether or not the predetermined action to be performed is restricted (fall recovery). When the operation determination unit 15 determines that the fall recovery is not performed until the end, that is, when the predetermined operation to be performed is restricted, the operation proceeds to the process of step S308 . On the other hand, when the operation determination unit 15 determines that the fall recovery is performed before the last, that is, when the predetermined operation performed is not restricted, the operation proceeds to the process of step S309.

For example, it is assumed that "the inclination angle of the ground" is α. At this time, the action determination unit 15 determines whether the inclination angle α of the ground is equal to or less than the inclination angle α2 (>α1) of the ground at which the mobile body 1 can recover from the prone state to the sitting state as shown in FIG. 11F , and further, As shown in FIG. 11G , it is determined whether or not the inclination angle α1 of the ground surface is larger than the inclination angle α1 of the ground surface at which the mobile body 1 can be restored from the prone state to the upright state.

Therefore, when the inclination angle α of the ground satisfies α1<α≦α2, the motion determination unit 15 restricts the fall recovery, that is, the mobile body 1 should stop the motion from the state of falling and lying on his stomach in the sitting state, and the process proceeds to step S308 processing. On the other hand, when the inclination angle α of the ground satisfies α≦α1, the operation determination unit 15 does not restrict the fall recovery, that is, determines that the mobile body 1 should continue to operate from the state where the mobile body 1 falls and is prone to the state where it stands upright. , the process proceeds to step S309.

In step S308, the motion determination unit 15 stops the motion in the state where the mobile body 1 is sitting (see FIG. 11F ).

The processing of step S309 is the same as the processing of step S2006 in FIG. 9 .

In step S310, in the case of transition from step S303, since the position where the moving body 1 exists is a position where the predetermined operation to be performed is not hindered by the nearby obstacles 32 or walls 33, the operation determination unit 15 Set a bug showing that fall recovery does not hold. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In addition, in the case of transition from step S304, since the inclination angle of the ground on which the mobile body 1 exists is not the inclination angle at which the mobile body 1 can recover from a fall, the operation determination unit 15 sets an error indicating that the recovery from a fall cannot be established. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

In addition, in the case of transition from step S306, since the posture of the mobile body 1 is an abnormal fall posture, the motion determination unit 15 sets an error indicating that the fall recovery cannot be established. Then, the operation determination unit 15 reports an error to the manager and operator of the mobile body 1 .

The processing of step S311 is the same as the processing of step S2008 in FIG. 9 .

In addition, the processing of the third embodiment can be combined with the processing of the second embodiment. For example, in step S202 shown in FIG. 8 and step S2002 shown in FIG. 9 , when the operation determination unit 15 determines that the mobile body 1 is not standing autonomously, it can transition to the process of step S303 shown in FIG. 12 .

According to the above-described processing, it can be determined in advance whether or not the predetermined operation performed by the mobile body 1 is established in the environment in which the mobile body 1 exists. Thereby, since a forced fall recovery can be prevented, failure of the movable body 1 can be prevented.

Symbol Description

1 moving body

13 Own position estimation unit (position determination unit)

14 Environmental Information Acquisition Department

15 Action Judging Section

16 Action execution part (action command part)

20 sound device

30 Display device

32 obstacles

33 walls

50 Attitude angle detection device

80 Environmental information setting device

100 Motion Control System

α Attitude angle

Claims (8)

1. a moving body, is characterized in that, has: The position determination department that determines its position; an environmental information acquisition unit that acquires environmental information for the location; and An operation determination unit that determines whether or not a predetermined operation to be performed is established based on the environmental information. 2. The moving body according to claim 1, characterized in that, The environmental information includes at least one of environmental information related to the sound-emitting device and environmental information related to the display device. 3. The moving body according to claim 2, wherein When it is determined that the predetermined operation to be performed does not hold, the operation determination unit corrects the operation information related to the predetermined operation to be performed. 4. The moving body according to claim 3, characterized in that: The moving body also has: an attitude angle detection device for detecting the attitude angle of the moving body, The action determination unit estimates the posture of the moving body based on the environmental information and the posture angle, and determines whether or not the predetermined action to be performed is established based on the estimated posture. 5. The moving body according to claim 4, wherein The environmental information includes at least any one of an inclination angle of the ground, a distance to an obstacle or a wall, a sound volume, and a brightness. 6. The moving body according to claim 5, wherein The predetermined action performed is fall recovery. 7. The mobile body according to claim 6, wherein The motion determination unit restricts the fall recovery based on the environmental information. 8. The moving body according to claim 7, wherein The moving body also has: An environmental information setting device for setting, changing or updating the environmental information.

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